def TestPID(P, I, D):
IncrementalPid = PID.IncrementalPID(P, I, D)
PositionalPid = PID.PositionalPID(P, I, D)
IncrementalXaxis = [0]
IncrementalYaxis = [0]
PositionalXaxis = [0]
PositionalYaxis = [0]
for i in range(1, 500):
#增量式
IncrementalPid.SetStepSignal(100.2)
IncrementalPid.SetInertiaTime(3, 0.1)
IncrementalYaxis.append(IncrementalPid.SystemOutput)
IncrementalXaxis.append(i)
#位置式
PositionalPid.SetStepSignal(100.2)
PositionalPid.SetInertiaTime(3, 0.1)
PositionalYaxis.append(PositionalPid.SystemOutput)
PositionalXaxis.append(i)
plt.figure(1) # 选择图表1
plt.plot(IncrementalXaxis, IncrementalYaxis, 'r')
plt.xlim(0, 120)
plt.ylim(0, 140)
plt.title("IncrementalPID")
plt.figure(2) # 选择图表2
plt.plot(PositionalXaxis, PositionalYaxis, 'b')
plt.xlim(0, 120)
plt.ylim(0, 140)
plt.title("PositionalPID")
plt.show()
def main():
ser.flushOutput()
ser.flushInput()
Angle_Median = 3085 # 平衡时的角度读数
Position_Zero = 10000
Position_count = 0
Balance_circle = PID.IncrementalPID(50, 0, 244)
Position_circle = PID.PositionPID(-25, 0, -600)
def TestPID():
Process = PID.IncrementalPID()
ProcessXaxis = [0]
ProcessYaxis = [0]
X = [0]
Y = [0]
for i in range(1, 500):
Process.SetStepSignal(10)
# Process.SetInertiaTime(100, 50)
ProcessXaxis.append(i)
ProcessYaxis.append(Process.y)
X.append(i)
Y.append(Process.e)
plt.figure(1)
plt.plot(ProcessXaxis, ProcessYaxis, 'r')
plt.xlim(0, 1000)
plt.ylim(0, 50)
plt.title("IncrementalPID")
plt.show()
def TestPID(P, I, D):
IncrementalPid = PID.IncrementalPID(P, I, D)
PositionalPid = PID.PositionalPID(P, I, D)
IncrementalXaxis = [0]
IncrementalYaxis = [0]
PositionalXaxis = [0]
PositionalYaxis = [0]
x = range(1, 500)
y = [5 * math.sin(i * 0.1) + 10 for i in x]
for i in x:
# 增量式
IncrementalPid.SetStepSignal(y[i - 1])
IncrementalPid.SetInertiaTime(3, 0.1)
IncrementalYaxis.append(IncrementalPid.SystemOutput)
IncrementalXaxis.append(i)
# 位置式
PositionalPid.SetStepSignal(y[i - 1])
PositionalPid.SetInertiaTime(3, 0.1)
PositionalYaxis.append(PositionalPid.SystemOutput)
PositionalXaxis.append(i)
plt.figure(1) # 选择图表1
plt.plot(IncrementalXaxis, IncrementalYaxis, 'r', x, y)
plt.xlim(0, 120)
plt.ylim(0, 140)
plt.title("IncrementalPID")
plt.figure(2) # 选择图表2
plt.plot(PositionalXaxis, PositionalYaxis, 'b')
plt.xlim(0, 120)
plt.ylim(0, 140)
plt.title("PositionalPID")
plt.show()
